A robust internal model controller for nonlinear systems

Author

Zazueta, Salvador ; Alvarez, Joaquin

Author_Institution

Nat. Inst. of Astron., UNAM, Ensenada, Mexico

Volume

1

fYear

2002

fDate

2002

Firstpage

561

Abstract

A redesign of a control algorithm for nonlinear systems having the structure called internal model controller is proposed. This new controller, based on a Lyapunov stability technique, displays a better robust performance than the classical IMC structure. The controller is continuous, so it does not present chattering. Furthermore, a saturated, high gain observer is included to overcome the problem of needing full access to the plant state. Some experimental results obtained for the control of electric motors used as drivers of astronomical telescopes show the performance of the proposed control strategy.

Keywords

DC motors; Lyapunov methods; astronomical telescopes; machine control; motion control; nonlinear control systems; robust control; Lyapunov stability technique; astronomical telescopes; continuous controller; electric motors; nonlinear systems; robust internal model controller; robust performance; saturated high gain observer; Astronomy; Control system synthesis; Control systems; Filters; Nonlinear control systems; Nonlinear systems; Robust control; Robust stability; Telescopes; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2002. Proceedings of the 2002

ISSN

0743-1619

Print_ISBN

0-7803-7298-0

Type

conf

DOI

10.1109/ACC.2002.1024866

Filename

1024866